US10494792B2 - Periphery monitoring apparatus of operation machine and periphery monitoring method of operation machine - Google Patents

Periphery monitoring apparatus of operation machine and periphery monitoring method of operation machine Download PDF

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Publication number
US10494792B2
US10494792B2 US15/562,154 US201615562154A US10494792B2 US 10494792 B2 US10494792 B2 US 10494792B2 US 201615562154 A US201615562154 A US 201615562154A US 10494792 B2 US10494792 B2 US 10494792B2
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Prior art keywords
operation machine
lifting ladder
periphery monitoring
camera image
display
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US15/562,154
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US20180080198A1 (en
Inventor
Masaomi Machida
Takeshi Kurihara
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Komatsu Ltd
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Komatsu Ltd
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    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B60K35/20—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor
    • B60K35/21—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor using visual output, e.g. blinking lights or matrix displays
    • B60K35/22—Display screens
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B60K35/20—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor
    • B60K35/26—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor using acoustic output
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    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B60K35/20—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor
    • B60K35/28—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor characterised by the type of the output information, e.g. video entertainment or vehicle dynamics information; characterised by the purpose of the output information, e.g. for attracting the attention of the driver
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    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
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    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
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    • B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/22—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle
    • B60R1/23—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view
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    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/16—Cabins, platforms, or the like, for drivers
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/24—Safety devices, e.g. for preventing overload
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices
    • E02F9/261—Surveying the work-site to be treated
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
    • B60K2360/16—Type of output information
    • B60K2360/176—Camera images
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
    • B60K2360/18—Information management
    • B60K2360/186—Displaying information according to relevancy
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
    • B60K2360/18—Information management
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    • B60K2360/1868—Displaying information according to relevancy according to driving situations
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
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    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
    • B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
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    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60Y2200/00—Type of vehicle
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    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/30—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
    • E02F3/32—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom working downwardly and towards the machine, e.g. with backhoes
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N5/00—Details of television systems

Definitions

  • the present disclosure relates to a periphery monitoring apparatus of an operation machine and a periphery monitoring method of the operation machine to perform a periphery monitoring in accordance with a lifted/lowered state of a lifting ladder.
  • an operation machine such as an excavator
  • a plurality of cameras is provided on a rear side or a side of its vehicle body in addition to a mirror in such a manner that an operator (driver) can visually recognize an obstacle near the vehicle body.
  • an image imaged by a camera is displayed, as a single camera image, on its monitor in an operating room of the operation machine.
  • an operating room is provided at a high position from the ground.
  • a boarding ladder is provided to allow an operator to access the operating room (see Patent Literature 2).
  • Lifting/lowering control is performed on the lifting ladder when the operator gets in and out of the large operation machine.
  • a height of an upper swing body from the ground to a bottom surface is equal to or higher than two meters.
  • the lifting ladder is stored in an upper part of the excavator during an operation thereof. After the operation, the ladder is lowered and the operator goes down to the ground.
  • the operator uses the lowered ladder and climbs up to a vicinity of the driver seat, lifts the ladder, and resumes the operation.
  • the present disclosure is made in view of the forging circumstances and an object of the present disclosure is to provide a periphery monitoring apparatus of an operation machine and a periphery monitoring method of the operation machine to perform a periphery monitoring in accordance with a lifted/lowered state of a lifting ladder.
  • a periphery monitoring apparatus includes an acquisition unit acquiring a peripheral condition of the operation machine; an information output unit outputting information acquired by the acquisition unit; a lifted/lowered state detection unit detecting a lifted/lowered state of a lifting ladder provided in the operation machine; and an output control unit performing changing an output content in the information output unit in accordance with the lifted/lowered state of the lifting ladder, the output content being related to the information acquired by the acquisition unit, the lifted/lowered state being detected by the lifted/lowered state detection unit.
  • a periphery monitoring method includes: an acquiring step to acquire a peripheral condition of the operation machine; an information output step to output information acquired in the acquiring step; lifted/lowered state detecting step to detect a lifted/lowered state of a lifting ladder provided to the operation machine; and output controlling step to perform changing an output content in the information output step in accordance with the lifted/lowered state of the lifting latter, the output content being related to the information acquired in the acquiring step, the lifted/lowered state being detected in the lifted/lowered state detecting step.
  • an output content which is related to information acquired by an acquisition unit and which is in an information output unit are changed in accordance with a lifted/lowered state of a lifting ladder which state is detected by a lifted/lowered state detection unit.
  • a periphery monitoring can be performed in accordance with a lifted/lowered state of the lifting ladder.
  • FIG. 1 is a side view illustrating a whole configuration of an excavator on which a periphery monitoring apparatus of an operation machine according to an embodiment of the present disclosure is mounted.
  • FIG. 2 is a view illustrating an inner layout of an operating room.
  • FIG. 3 is an A-A sectional view illustrating a configuration of a periphery of the lifting ladder of the excavator illustrated in FIG. 1 .
  • FIG. 4 is a block diagram illustrating a whole control system of the excavator and a detail configuration of a periphery monitoring controller.
  • FIG. 5 is a description view for describing generation process of a bird's eye image performed by a bird's eye image generation unit.
  • FIG. 6 is a side view illustrating positions of cameras.
  • FIG. 7 is a plane view schematically illustrating the positions of the cameras.
  • FIG. 8 is a side view illustrating positions of radars.
  • FIG. 9 is a plane view schematically illustrating the positions of the radars.
  • FIG. 10 is a view illustrating an example of an initial screen of a periphery monitoring monitor.
  • FIG. 11 is a flowchart illustrating an image switching processing procedure in the periphery monitoring monitor performed by a controller.
  • FIG. 12 is a view illustrating a lifting ladder peripheral region in which radar detection process is masked.
  • FIG. 13 is a view illustrating an example in which the periphery monitoring monitor is provided in a remote control seat.
  • FIG. 14 is a view illustrating an example in which a periphery monitoring monitor is provided in a mobile terminal.
  • FIG. 1 is a side view illustrating a whole configuration of an excavator to which a periphery monitoring apparatus according to an embodiment of the present disclosure for an operation machine is mounted.
  • An excavator 1 is a large excavator, which is illustrated as an example of an operation machine, such as a mining shovel used in a mine or the like.
  • the excavator 1 includes a self-propelled lower traveling body 2 , an upper swing body 3 swingably provided on the lower traveling body 2 , and an operation machine 4 which operates in a flexible and undulating manner at a center in a front part of the upper swing body 3 .
  • the operation machine 4 includes a boom 4 a , an arm 4 b , a bucket 4 c , a boom cylinder 4 d , an arm cylinder 4 e , and a bucket cylinder 4 f .
  • a base end of the boom 4 a is rotatably coupled to the upper swing body 3 .
  • a leading end of the boom 4 a is rotatably coupled to a base end of the arm 4 b .
  • a leading end of the arm 4 b is rotatably coupled to the bucket 4 c .
  • the boom cylinder 4 d , the arm cylinder 4 e , and the bucket cylinder 4 f are hydraulic cylinders driven by hydraulic oil discharged from a hydraulic pump.
  • the boom cylinder 4 d makes the boom 4 a operate.
  • the arm cylinder 4 e makes the arm 4 b operate.
  • the bucket cylinder 4 f is coupled to the bucket 4 c via a link member and makes the bucket 4 c operate.
  • a cylinder rod of the bucket cylinder 4 f performs an extension/contraction operation, whereby the bucket 4 c is operated. Note that in FIG. 1 , an opening of the bucket 4 c functions as a backhoe which faces a swing center. However, the opening of the bucket 4 c may function as a front shovel facing the outside from the swing center.
  • an operating room 6 is provided via a cab base 5 .
  • a power container 7 is mounted in a rear part of the upper swing body 3 .
  • an engine, a hydraulic pump, a radiator, an oil cooler, and the like are stored in the power container 7 .
  • a counter weight 8 is mounted at a rear end of the upper swing body 3 .
  • a lifting ladder 9 is arranged in such a manner as to be placed in a rear part of the cab base 5 .
  • the lifting ladder 9 supports an operator or a maintenance staff to go up to/down from the upper swing body 3 .
  • FIG. 2 is a view illustrating an inner layout of the operating room 6 .
  • operation levers 11 and 12 are respectively arranged on left and right sides of an operator seat 10 in the operating room 6 .
  • the operation lever 11 is arranged on a left-hand side when an operator is seated on the operator seat 10 .
  • the operation lever 12 is arranged on a right-hand side when the operator is seated on the operator seat 10 .
  • the operation lever 11 corresponds to a swing operation of the upper swing body 3 and an operation of the arm 4 b .
  • the operation lever 11 When the operation lever 11 is operated to the right/left, the upper swing body 3 swings to the right/left.
  • the operation lever 11 is operated upward/downward, the arm 4 b rotates in the front/rear direction.
  • the operation lever 12 corresponds to an operation of the boom 4 a and an operation of the bucket 4 c .
  • the bucket 4 c rotates in the excavation/discharge direction.
  • the operation lever 12 is operated upward/downward, the boom 4 a rotates in the upward/downward direction. Note that a combination of an operation of each of the operation levers 11 and 12 and an operation machine is not limited to what is described in the present embodiment.
  • the traveling lever 13 can perform forward/backward traveling of a crawler on the left side of the lower traveling body 2 according to an operation. Also, the traveling lever 14 can perform the forward/backward traveling of the right crawler of the lower traveling body 2 according to an operation. When the traveling levers 13 and 14 are operated simultaneously, the right and left crawlers are driven simultaneously, whereby the forward/backward traveling of the whole excavator 1 can be performed.
  • a periphery monitoring monitor 15 is an input device including a touch panel and can at least display, as a bird's eye image and a single camera image, a peripheral condition of the excavator 1 , the peripheral condition having been acquired by a plurality of cameras.
  • the monitor 16 is an input/output apparatus including a liquid crystal display unit and a key input unit. The monitor 16 can display various kinds of information including a state of an engine, a hydraulic pump or the like.
  • the monitor 16 can display a machine gauge display of an engine water temperature, an oil temperature, a remaining amount of fuel or the like, a failure information display indicating a trouble or the like of a device, and a user menu display for various kinds of setting having been performed by the operator.
  • the buzzer 17 sounds when an obstacle is detected by a plurality of radars. Note that when an obstacle is detected, an information related to the obstacle is also displayed on the above-described periphery monitoring monitor 15 , more detail thereof being described later. Note that the above machine gauge display, failure information display, and user menu display may be displayed on the periphery monitoring monitor 15 .
  • FIG. 3 is an A-A sectional view illustrating a configuration of a periphery of the lifting ladder 9 of the excavator 1 of FIG. 1 .
  • a ladder supporting frame 23 is fixed via a bracket 32 .
  • a pin 21 couples a bracket 20 and a base end of the lifting ladder 9 .
  • a lifting ladder hydraulic cylinder 24 is embedded into the ladder supporting frame 23 .
  • the base end of the lifting ladder hydraulic cylinder 24 is coupled via a bracket (not illustrated), which is provided in the ladder supporting frame 23 , and a pin 25 .
  • a leading end of the lifting ladder hydraulic cylinder 24 is coupled via a lever member 26 , which is provided in a base part of the lifting ladder 9 , and a pin 27 . Also, a stroke sensor 24 a is provided to the lifting ladder hydraulic cylinder 24 although not illustrated in FIG. 3 .
  • the lifting ladder hydraulic cylinder 24 When the lifting ladder hydraulic cylinder 24 is extended, the lifting ladder 9 moves to a state of a storage arrangement in which storage on a side of the upper swing body 3 is performed. On the other hand, when the lifting ladder hydraulic cylinder 24 is contracted, the lifting ladder 9 moves to a state of a usage arrangement in which the lifting ladder 9 is protruded from the upper swing body 3 to the ground, as indicated by a dashed-two dotted line. Note that an instruction of lifting/lowering of the lifting ladder 9 can be performed by pressing of a lifting/lowering switch 9 c (see FIG. 1 ) provided on a side surface on a side of a catwalk 9 b in the operating room 6 .
  • a lifting/lowering switch 9 c see FIG. 1
  • the lifting/lowering switch 9 c is operated and the lifting ladder 9 is brought to the storage arrangement.
  • the operator goes down to the ground (ground surface level GL) through the catwalk 9 b , the stairs 9 a , and the lifting ladder 9 after operating the lifting/lowering switch 9 c and bringing the lifting ladder 9 into the usage arrangement from the storage arrangement.
  • the lifting/lowering switch 9 c is not necessarily provided to the side surface of the catwalk and may be provided to a different position in the excavator such as in the operating room 6 .
  • FIG. 4 is a block diagram illustrating a configuration of a whole control system of the excavator 1 .
  • a periphery monitoring controller 40 is connected to a CAN 41 which is one of in-vehicle networks.
  • a communication controller 42 a monitor controller 43 , an engine controller 44 , a pump controller 45 , the operation levers 11 and 12 , the traveling levers 13 and 14 , the lifting/lowering switch 9 c , the stroke sensor 24 a of the lifting ladder hydraulic cylinder 24 , and the like are connected.
  • a camera group C including a plurality of cameras C 1 to C 7 a radar group R including a plurality of radars R 1 to R 8 , the periphery monitoring monitor 15 , and the buzzer 17 are connected.
  • the periphery monitoring controller 40 performs periphery monitoring control.
  • the periphery monitoring controller 40 includes an image processing unit 51 , an obstacle processing unit 52 , and an output control unit 56 .
  • the image processing unit 51 includes a bird's eye image generation unit 54 and an image composition unit 55 .
  • the output control unit 56 includes a display control unit 53 .
  • the bird's eye image generation unit 54 generates a bird's eye image 61 based on images acquired from the cameras C 1 to C 7 . As illustrated in FIG. 5 , the bird's eye image generation unit 54 converts the images P 1 to P 7 acquired from the cameras C 1 to C 7 into top view images. That is, the bird's eye image generation unit 54 performs a conversion into images seen from a predetermined virtual viewpoint placed in an upper side of the excavator 1 . More specifically, the bird's eye image generation unit 54 performs an image conversion in which a projection from the virtual viewpoint on the upper side of the excavator 1 onto a virtual projection surface corresponding to the ground surface level GL is performed.
  • the bird's eye image generation unit 54 extracts conversion images P 11 to P 17 corresponding to regions E 1 to E 7 in a frame to display the bird's eye image and composes the conversion images P 11 to P 17 in the frame.
  • an image P corresponding to a plane view of the excavator 1 is previously attached.
  • the obstacle processing unit 52 detects an obstacle based on information of the radars R 1 to R 8 .
  • the obstacle processing unit 52 reports by making the buzzer 17 sound and outputs an obstacle information such as a size or a position of the detected obstacle to the image composition unit 55 .
  • the obstacle information is a point A 1 illustrated in FIG. 5 .
  • To the image composition unit 55 the above-described bird's eye image 61 and images (a single camera image 62 ) imaged by the cameras C 1 to C 7 are input.
  • an image which is a composition of the obstacle information with the above-described bird's eye image 61 and the single camera image 62 is generated.
  • the bird's eye image is displayed on the periphery monitoring monitor 15 .
  • the operator can easily understand a position of the obstacle or a distance thereof from the excavator.
  • an outer frame of the regions E 1 to E 7 in the bird's eye image 61 in which the obstacle exists or an outer frame of the single camera image 62 in which the obstacle exists may be displayed in a blinking manner (frame borders may be blinked). Due to the blinking display, the operator can easily understand that there exists an obstacle. Note that another highlighting may be used instead of the blink display. For example, a thickness or a color of a frame may be changed.
  • the above obstacle information may be the point A 1 illustrated in FIG. 5 or a configuration such as buzzer sounding, a blink display or the like as long as the existence of the obstacle can be emphasized and notified to the operator. Note that the buzzer sounding is controlled by the output control unit 56 .
  • the display control unit 53 performs control to display, on the periphery monitoring monitor 15 , the bird's eye image 61 output from the image composition unit 55 and the single camera image 62 selected among images imaged by the cameras C 1 to C 7 .
  • the monitor controller 43 is connected to the monitor 16 .
  • the monitor controller 43 performs input/output control of various kinds of information such as an information transmitted from various sensors through the CAN 41 or an information input through the monitor 16 .
  • the monitor 16 can display an engine water temperature, an oil temperature, a remaining amount of fuel, or alarm information indicating a trouble of a device.
  • the lifting ladder hydraulic cylinder 24 is driven according to an operation of the lifting/lowering switch 9 c . Also, a stroke amount of the lifting ladder hydraulic cylinder 24 is detected by the stroke sensor 24 a and a detection result is output to the periphery monitoring controller 40 .
  • FIG. 6 is a side view of the excavator and FIG. 7 is a simplified plane view of the excavator upper swing body.
  • a crawler is supposed to be in each of right and left end regions of the upper swing body in FIG. 7 .
  • the right and left crawlers are not illustrated and only the upper swing body is illustrated.
  • the lifting ladder 9 is illustrated on a rear left side of the upper swing body in FIG. 7 . Note that a position of the lifting ladder is not limited to the rear left side of the upper swing body and may be positioned at any position.
  • All of the cameras C 1 to C 7 may be attached to the upper swing body 3 .
  • each of the cameras C 1 to C 7 has a view range of 120° in right and left directions (60° in each direction) and 96° in a height direction.
  • a charge-coupled device (CCD) camera can be used as a camera.
  • each of the cameras C 1 to C 7 may include a wide dynamic range function.
  • the camera C 1 is provided to a front surface of the cab base 5 , which is a lower part of the operating room 6 in the upper swing body 3 , to capture an image of the front of the upper swing body 3 .
  • the camera C 2 is provided to a lower front part on a right side of the upper swing body 3 to capture an image on a front right side of the upper swing body 3 .
  • the camera C 3 is provided to a lower part on a right side surface of the upper swing body 3 to capture an image on a rear right side of the upper swing body 3 .
  • the camera C 4 is provided to a center of a lower rear part of the counter weight 8 , which is arranged in a rear side of the upper swing body 3 , to capture an image on a rear side of the upper swing body 3 .
  • the camera C 5 is provided to a lower part on a left side surface of the upper swing body 3 to capture an image on a rear left side of the upper swing body 3 .
  • the lifting ladder 9 is included in an imaging range of the camera C 5 .
  • the camera C 6 is provided to an upper left side surface of the cab base 5 to capture an image on a front left side of the upper swing body 3 .
  • the camera C 7 is provided to a lower part of the power container 7 to capture an image of a lower region of the power container 7 and the counter weight 8 . Since imaging ranges of cameras C 1 to C 7 adjacent to each other overlap with each other, an outer periphery 360° of a proximate position of the excavator 1 can be imaged.
  • each of the radars R 1 to R 8 may be provided to the upper swing body 3 .
  • Each of the radars R 1 to R 8 detects a relative position and a direction between an obstacle, which exists near the excavator 1 , and the excavator 1 .
  • the radars R 1 to R 8 are attached to respective outer peripheral parts of the excavator 1 .
  • each of the radars R 1 to R 8 is an ultra wide band (UWB) radar which has a detection angle of 80° ( ⁇ 40°) in an azimuth (horizontal) direction and 16° ( ⁇ 8°) in an up/down (vertical) direction and has a detection distance of which is equal to or longer than 15 meters at maximum.
  • UWB ultra wide band
  • the radar R 1 is provided to a lower left end in a front part of the upper swing body 3 to detect an obstacle on a front left side of the upper swing body 3 .
  • the radar R 2 is provided to a lower right end in the front part of the upper swing body 3 to detect an obstacle in a front right side of the upper swing body 3 .
  • a provision direction of each of the radars R 1 and R 2 is adjusted so as not to detect the operation machine 4 such as the bucket 4 c . Detection regions of the radars R 1 and R 2 do not overlap with each other.
  • the radar R 3 is provided to a lower part on a right side of the upper swing body 3 to detect an obstacle in a rear right side of the upper swing body 3 .
  • the radar R 4 is provided to a lower part on the right side of the upper swing body 3 to detect an obstacle in a front right side of the upper swing body 3 .
  • the radar R 3 is arranged so as to be adjacent to the radar R 4 and is arranged on a front side with respect to a position of the radar R 4 . Then, by emitting radar signals in such a manner that the signals intersect with each other and that detection regions overlap with each other, the radars R 3 and R 4 detect an obstacle in a whole right side of the upper swing body 3 .
  • the radar R 5 is provided to a lower part of the counter weight 8 of the upper swing body 3 to detect an obstacle in a rear left side of the upper swing body 3 .
  • the radar R 6 is provided to a lower left part of the counter weight 8 to detect an obstacle in a rear right side of the upper swing body 3 .
  • the radar R 5 is arranged so as to be adjacent to the radar R 6 and is arranged on a right side with respect to a position of the radar R 6 . Then, by emitting radar signals in such a manner that the signals intersect with each other and that detection regions overlap with each other, the radars R 5 and R 6 detect an obstacle in a whole rear side of the upper swing body 3 .
  • the radar R 8 is provided to a lower part on a left side of the upper swing body 3 to detect an obstacle in a front left side of the upper swing body 3 .
  • the radar R 7 is provided to a lower part on the left side of the upper swing body 3 to detect an obstacle in a rear left side of the upper swing body 3 .
  • the radar R 8 is arranged to as to be adjacent to the radar R 7 and is arranged on a rear side with respect to a position of the radar R 7 . Then, by emitting radar signals in such a manner that the signals intersect with each other and that detection regions overlap with each other, the radars R 8 and R 7 detect an obstacle in a whole left side of the upper swing body 3 .
  • a region right in front of the excavator is not a detection region. This is to prevent a radar from detecting an operation machine.
  • an obstacle can be detected in a region E 22 which is a peripheral region other than a region right in front of the excavator.
  • the region E 20 in FIG. 9 indicates a region in a predetermined radius from a swing center CT of the upper swing body 3 .
  • an obstacle information such as buzzer sounding, point displayed on bird's eye image, or blink display
  • ON an obstacle information
  • OFF no obstacle information
  • the periphery monitoring monitor 15 illustrated in FIG. 10 is an example of an initial screen, which is displayed first when a key-on operation is performed.
  • the bird's eye image 61 is displayed in an upper region of the periphery monitoring monitor 15 and the single camera image 62 is displayed in its lower region.
  • an icon I 1 is displayed in a lower right side of the periphery monitoring monitor 15 .
  • the displayed single camera image 62 is a rear side image of the upper swing body 3 and is imaged by the camera C 4 .
  • the icon I 1 indicates seven image positions displayed in the single camera image 62 .
  • the single camera image 62 illustrated in FIG. 10 is a rear side image.
  • a lower region of the icon I 1 which region corresponds to a rear position of the upper swing body 3 is filled and displayed.
  • a dump truck TR on a rear side of the upper swing body 3 .
  • the dump truck TR is in a position at 180° from the front, where the operation machine 4 is arranged, and is parked in such a manner as to face the outside.
  • the bird's eye image 61 there are regions (instruction part) E 1 to E 7 corresponding to conversion images acquired by the cameras C 1 to C 7 .
  • the periphery monitoring monitor 15 includes a touch panel.
  • the display control unit 53 performs switching to a single camera image 62 corresponding to the selected region. More specifically, when the regions E 1 to E 7 are selected, switching into the single camera images 62 by the cameras C 1 to C 7 is respectively performed. Along with the switching into the single camera image 62 , a display content of the icon I 1 is simultaneously switched.
  • FIG. 10 by selection of the region E 4 , a state becomes identical to a state in which a switching display into a single camera image 62 , which is a rear side image, is performed.
  • FIG. 11 is a flowchart illustrating an image switching processing procedure of the periphery monitoring monitor 15 performed by the periphery monitoring controller 40 .
  • the periphery monitoring controller 40 determines whether the lifting ladder 9 is in the storage arrangement (step S 101 ). It is determined whether the lifting ladder 9 is in the storage arrangement or in the usage arrangement based on a stroke amount of the stroke sensor 24 a in the lifting ladder hydraulic cylinder 24 .
  • the lifting ladder 9 may be lifted/lowered, for example, by sliding the lifting ladder by manual operation or by using a weight.
  • the sensor is the stroke sensor 24 a .
  • the sensor may be a sensor other than the stroke sensor and may be, for example, a limit switch.
  • the lifting ladder 9 When the lifting ladder 9 is not in the storage arrangement (step S 101 , No), the lifting ladder 9 is lowered onto the ground and is in the usage arrangement. Thus, in order to display a peripheral condition of a lowered position of the lifting ladder 9 , the display control unit 53 switches the single camera image 62 on the periphery monitoring monitor 15 into a rear left image imaged by the camera C 5 which includes the lifting ladder 9 in an imaging range (step S 102 ). In this case, the operator can understand a movement of a person (such as supervisor, replacement operator, or maintenance staff) around the lifting ladder. Thus, it is possible to check safety of the periphery during replacement of an operator, during maintenance, or when operation is started.
  • a person such as supervisor, replacement operator, or maintenance staff
  • the lifting/lowering switch 9 c is provided in the operating room 6
  • a rear left image in which a periphery of the lifting ladder 9 is imaged is displayed as the single camera image 62
  • an operator on a driver seat can easily understand a condition or a movement of a person, who gathers around a position onto which lifting ladder 9 is lowered, without going out of the operating room 6 and moving to the catwalk 9 b .
  • the operator cannot go down to the ground.
  • the rear left image is displayed as the single camera image 62
  • the operator can easily understand a peripheral environment of the position onto which the lifting ladder 9 is lowered.
  • the display control unit 53 masks a radar detection process with respect to the lifting ladder peripheral region (step S 103 ).
  • the masking has the following meaning. That is, even when a radar detects an obstacle, a process supposed to be performed is controlled based on the obstacle.
  • a point on obstacle information or a blink display is displayed on the bird's eye image 61 and the single camera image 62 and alarm activation by sounding of the buzzer 17 in the obstacle information is performed (only one may be output).
  • the mask processing in step S 103 is performed, even in a case where an obstacle is detected in the lifting ladder peripheral region, the above-described obstacle information is not output.
  • the display control unit 53 preferably switches the single camera image 62 on the periphery monitoring monitor 15 to a rear image by the camera C 4 (step S 104 ).
  • a rear-left image which is imaged by the camera C 5 and in which the lifting ladder 9 is included, is displayed as the single camera image 62 .
  • a single camera image is displayed, which is imaged by the camera C 4 and in which a rear side of the upper swing body 3 is imaged.
  • FIG. 12 is a view illustrating the lifting ladder peripheral region E 21 in addition to the above-described region E 20 and region E 22 .
  • the region E 21 is a region in which a masking process of radar detection is performed when the lifting ladder is not in the storage arrangement. Even in a case where an obstacle is detected in the region when the lifting ladder is not in the storage arrangement, the obstacle information (such as buzzer sounding, point displayed on bird's eye image, or blink display) is not output. Note that only the buzzer sounding may be controlled and a point or a blink display may be displayed on the bird's eye image. Alternatively, the opposite of the above may be performed. For example, when an obstacle is detected at a position of the point A 2 in FIG.
  • the position of the point A 2 is in the region E 20 and the region E 22 , where obstacle information is output, and is outside of the region E 21 where the obstacle information is not output.
  • the obstacle information is output.
  • the position of the point A 3 is in the region E 20 and the region E 22 , where obstacle information is output, and is also in the region E 21 where the obstacle information is not output.
  • the obstacle information is not output.
  • a size or a shape of the lifting ladder peripheral region E 21 are not necessarily limited as long as the lifting ladder 9 is included in the region.
  • a setting is performed in such a manner that a single camera image is switched into a predetermined camera image in accordance with a lifted/lowered state of a ladder.
  • a bird's eye image may be switched into a predetermined single camera image.
  • a switching may be performed into a predetermined single camera image from a machine gauge display to display an engine water temperature, an oil temperature, a remaining amount of combustion or the like.
  • a switching may be performed into a predetermined single camera image from a failure information display indicating a trouble or the like of a device or a user menu display for various kinds of setting by an operator.
  • a display region (display size of image) of a single camera image or a bird's eye image may be changed.
  • a single camera image in which the ladder is imaged may be enlarged and displayed.
  • a single camera image in which the ladder is imaged relatively may be contracted and displayed while the bird's eye image is enlarged and displayed.
  • the periphery monitoring monitor 15 is provided separately from the monitor 16 .
  • the present embodiment is not limited to this and may be configured to display the bird's eye image 61 or the single camera image 62 on the monitor 16 .
  • the periphery monitoring monitor 15 is configured as a touch panel display, but a normal display in which a touch sensor is not embedded may be used.
  • the bird's eye image 61 and the single camera image 62 are simultaneously displayed on the periphery monitoring monitor 15 .
  • the present invention is not limited to this and may be configured to display only the bird's eye image or the single camera image on the periphery monitoring monitor 15 .
  • a periphery monitoring apparatus may include less cameras or more cameras.
  • the periphery monitoring apparatus is configured in such a manner that a radar and a camera operate together.
  • this is not the limitation and the periphery monitoring apparatus may only include a single camera.
  • the lifting/lowering switch 9 c which is provided to the catwalk 9 b in the present embodiment, may be provided in the operating room 6 .
  • a configuration in which a periphery monitoring monitor 15 or a buzzer 17 is provided in an operating room 6 of an operation machine has been described.
  • this may be provided in a different place such as a remote control seat 300 , which is illustrated in FIG. 13 and which is to perform remote control of an operation machine, or a control room that is in a mine and that performs overall control/management of a plurality of operation machines.
  • a remote control monitor 301 illustrated in FIG. 13 may be used as the periphery monitoring monitor.
  • FIG. 13 a remote control seat 300 , which is illustrated in FIG. 13 and which is to perform remote control of an operation machine, or a control room that is in a mine and that performs overall control/management of a plurality of operation machines.
  • a remote control monitor 301 illustrated in FIG. 13 may be used as the periphery monitoring monitor.
  • a periphery monitoring monitor 15 or a buzzer 17 may be provided in a mobile terminal 302 and an operator may see a bird's eye image or the like displayed on the mobile terminal 302 .
  • a some kind of communication unit may be provided in each of an operation machine, and the remote control seat 300 , the control room, the mobile terminal 302 , or the like and information such as a bird's eye image may be transmitted/received therebetween.

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